framework-arduinoteensy-cxx20/libraries/OctoWS2811/OctoWS2811_imxrt.cpp

/*  OctoWS2811 - High Performance WS2811 LED Display Library
    http://www.pjrc.com/teensy/td_libs_OctoWS2811.html
    Copyright (c) 2020 Paul Stoffregen, PJRC.COM, LLC

    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
*/

#include <Arduino.h>
#include "OctoWS2811.h"

#if defined(__IMXRT1062__)

#define TH_TL	1.25e-6
#define T0H	0.30e-6
#define T1H	0.75e-6

// Ordinary RGB data is converted to GPIO bitmasks on-the-fly using
// a transmit buffer sized for 2 DMA transfers.  The larger this setting,
// the more interrupt latency OctoWS2811 can tolerate, but the transmit
// buffer grows in size.  For good performance, the buffer should be kept
// smaller than the half the Cortex-M7 data cache.
#define BYTES_PER_DMA	40

uint8_t OctoWS2811::defaultPinList[8] = {2, 14, 7, 8, 6, 20, 21, 5};
uint16_t OctoWS2811::stripLen;
void * OctoWS2811::frameBuffer;
void * OctoWS2811::drawBuffer;
uint8_t OctoWS2811::params;
DMAChannel OctoWS2811::dma1;
DMAChannel OctoWS2811::dma2;
DMAChannel OctoWS2811::dma3;
static DMASetting dma2next;
static uint32_t numbytes;

static uint8_t numpins;
static uint8_t pinlist[NUM_DIGITAL_PINS]; // = {2, 14, 7, 8, 6, 20, 21, 5};
static uint8_t pin_bitnum[NUM_DIGITAL_PINS];
static uint8_t pin_offset[NUM_DIGITAL_PINS];

static uint16_t comp1load[3];
DMAMEM static uint32_t bitmask[4] __attribute__ ((used, aligned(32)));
DMAMEM static uint32_t bitdata[BYTES_PER_DMA*64] __attribute__ ((used, aligned(32)));
volatile uint32_t framebuffer_index = 0;
volatile bool dma_first;

static uint32_t update_begin_micros = 0;

OctoWS2811::OctoWS2811(uint32_t numPerStrip, void *frameBuf, void *drawBuf, uint8_t config, uint8_t numPins, const uint8_t *pinList)
{
	stripLen = numPerStrip;
	frameBuffer = frameBuf;
	drawBuffer = drawBuf;
	params = config;
	if (numPins > NUM_DIGITAL_PINS) numPins = NUM_DIGITAL_PINS;
	numpins = numPins;
	memcpy(pinlist, pinList, numpins);
}


void OctoWS2811::begin(uint32_t numPerStrip, void *frameBuf, void *drawBuf, uint8_t config, uint8_t numPins, const uint8_t *pinList)
{
	stripLen = numPerStrip;
	frameBuffer = frameBuf;
	drawBuffer = drawBuf;
	params = config;
	if (numPins > NUM_DIGITAL_PINS) numPins = NUM_DIGITAL_PINS;
	numpins = numPins;
	memcpy(pinlist, pinList, numpins);
	begin();
}

int OctoWS2811::numPixels(void)
{
	return stripLen * numpins;
}

extern "C" void xbar_connect(unsigned int input, unsigned int output); // in pwm.c
static volatile uint32_t *standard_gpio_addr(volatile uint32_t *fastgpio) {
	return (volatile uint32_t *)((uint32_t)fastgpio - 0x01E48000);
}

void OctoWS2811::begin(void)
{
	numbytes = stripLen * 3; // TODO: 4 if RGBW

	// configure which pins to use
	memset(bitmask, 0, sizeof(bitmask));
	for (uint32_t i=0; i < numpins; i++) {
		uint8_t pin = pinlist[i];
		if (pin >= NUM_DIGITAL_PINS) continue; // ignore illegal pins
		uint8_t bit = digitalPinToBit(pin);
		uint8_t offset = ((uint32_t)portOutputRegister(pin) - (uint32_t)&GPIO6_DR) >> 14;
		if (offset > 3) continue; // ignore unknown pins
		pin_bitnum[i] = bit;
		pin_offset[i] = offset;
		uint32_t mask = 1 << bit;
		bitmask[offset] |= mask;
		*(&IOMUXC_GPR_GPR26 + offset) &= ~mask;
		*standard_gpio_addr(portModeRegister(pin)) |= mask;
	}
	arm_dcache_flush_delete(bitmask, sizeof(bitmask));

	// Set up 3 timers to create waveform timing events
	comp1load[0] = (uint16_t)((float)F_BUS_ACTUAL * (float)TH_TL);
	comp1load[1] = (uint16_t)((float)F_BUS_ACTUAL * (float)T0H);
	comp1load[2] = (uint16_t)((float)F_BUS_ACTUAL * (float)T1H);
	if ((params & 0xF0) == WS2811_400kHz) {
		comp1load[0] *= 2;
		comp1load[1] *= 2;
		comp1load[2] *= 2;
	}
	TMR4_ENBL &= ~7;
	TMR4_SCTRL0 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE | TMR_SCTRL_MSTR;
	TMR4_CSCTRL0 = TMR_CSCTRL_CL1(1) | TMR_CSCTRL_TCF1EN;
	TMR4_CNTR0 = 0;
	TMR4_LOAD0 = 0;
	TMR4_COMP10 = comp1load[0];
	TMR4_CMPLD10 = comp1load[0];
	TMR4_CTRL0 = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8) | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE(3);
	TMR4_SCTRL1 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE;
	TMR4_CNTR1 = 0;
	TMR4_LOAD1 = 0;
	TMR4_COMP11 = comp1load[1]; // T0H
	TMR4_CMPLD11 = comp1load[1];
	TMR4_CTRL1 = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8) | TMR_CTRL_COINIT | TMR_CTRL_OUTMODE(3);
	TMR4_SCTRL2 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE;
	TMR4_CNTR2 = 0;
	TMR4_LOAD2 = 0;
	TMR4_COMP12 = comp1load[2]; // T1H
	TMR4_CMPLD12 = comp1load[2];
	TMR4_CTRL2 = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8) | TMR_CTRL_COINIT | TMR_CTRL_OUTMODE(3);

	// route the timer outputs through XBAR to edge trigger DMA request
	CCM_CCGR2 |= CCM_CCGR2_XBAR1(CCM_CCGR_ON);
	xbar_connect(XBARA1_IN_QTIMER4_TIMER0, XBARA1_OUT_DMA_CH_MUX_REQ30);
	xbar_connect(XBARA1_IN_QTIMER4_TIMER1, XBARA1_OUT_DMA_CH_MUX_REQ31);
	xbar_connect(XBARA1_IN_QTIMER4_TIMER2, XBARA1_OUT_DMA_CH_MUX_REQ94);
	XBARA1_CTRL0 = XBARA_CTRL_STS1 | XBARA_CTRL_EDGE1(3) | XBARA_CTRL_DEN1 |
		XBARA_CTRL_STS0 | XBARA_CTRL_EDGE0(3) | XBARA_CTRL_DEN0;
	XBARA1_CTRL1 = XBARA_CTRL_STS0 | XBARA_CTRL_EDGE0(3) | XBARA_CTRL_DEN0;

	// configure DMA channels
	dma1.begin();
	dma1.TCD->SADDR = bitmask;
	dma1.TCD->SOFF = 8;
	dma1.TCD->ATTR = DMA_TCD_ATTR_SSIZE(3) | DMA_TCD_ATTR_SMOD(4) | DMA_TCD_ATTR_DSIZE(2);
	dma1.TCD->NBYTES_MLOFFYES = DMA_TCD_NBYTES_DMLOE |
		DMA_TCD_NBYTES_MLOFFYES_MLOFF(-65536) |
		DMA_TCD_NBYTES_MLOFFYES_NBYTES(16);
	dma1.TCD->SLAST = 0;
	dma1.TCD->DADDR = &GPIO1_DR_SET;
	dma1.TCD->DOFF = 16384;
	dma1.TCD->CITER_ELINKNO = numbytes * 8;
	dma1.TCD->DLASTSGA = -65536;
	dma1.TCD->BITER_ELINKNO = numbytes * 8;
	dma1.TCD->CSR = DMA_TCD_CSR_DREQ;
	dma1.triggerAtHardwareEvent(DMAMUX_SOURCE_XBAR1_0);

	dma2next.TCD->SADDR = bitdata;
	dma2next.TCD->SOFF = 8;
	dma2next.TCD->ATTR = DMA_TCD_ATTR_SSIZE(3) | DMA_TCD_ATTR_DSIZE(2);
	dma2next.TCD->NBYTES_MLOFFYES = DMA_TCD_NBYTES_DMLOE |
		DMA_TCD_NBYTES_MLOFFYES_MLOFF(-65536) |
		DMA_TCD_NBYTES_MLOFFYES_NBYTES(16);
	dma2next.TCD->SLAST = 0;
	dma2next.TCD->DADDR = &GPIO1_DR_CLEAR;
	dma2next.TCD->DOFF = 16384;
	dma2next.TCD->CITER_ELINKNO = BYTES_PER_DMA * 8;
	dma2next.TCD->DLASTSGA = (int32_t)(dma2next.TCD);
	dma2next.TCD->BITER_ELINKNO = BYTES_PER_DMA * 8;
	dma2next.TCD->CSR = 0;

	dma2.begin();
	dma2 = dma2next; // copies TCD
	dma2.triggerAtHardwareEvent(DMAMUX_SOURCE_XBAR1_1);
	dma2.attachInterrupt(isr);

	dma3.begin();
	dma3.TCD->SADDR = bitmask;
	dma3.TCD->SOFF = 8;
	dma3.TCD->ATTR = DMA_TCD_ATTR_SSIZE(3) | DMA_TCD_ATTR_SMOD(4) | DMA_TCD_ATTR_DSIZE(2);
	dma3.TCD->NBYTES_MLOFFYES = DMA_TCD_NBYTES_DMLOE |
		DMA_TCD_NBYTES_MLOFFYES_MLOFF(-65536) |
		DMA_TCD_NBYTES_MLOFFYES_NBYTES(16);
	dma3.TCD->SLAST = 0;
	dma3.TCD->DADDR = &GPIO1_DR_CLEAR;
	dma3.TCD->DOFF = 16384;
	dma3.TCD->CITER_ELINKNO = numbytes * 8;
	dma3.TCD->DLASTSGA = -65536;
	dma3.TCD->BITER_ELINKNO = numbytes * 8;
	dma3.TCD->CSR = DMA_TCD_CSR_DREQ | DMA_TCD_CSR_DONE;
	dma3.triggerAtHardwareEvent(DMAMUX_SOURCE_XBAR1_2);

	// set up the buffers
	uint32_t bufsize = numbytes * numpins;
	memset(frameBuffer, 0, bufsize);
	if (drawBuffer) {
		memset(drawBuffer, 0, bufsize);
	} else {
		drawBuffer = frameBuffer;
	}
}

static void fillbits(uint32_t *dest, const uint8_t *pixels, int n, uint32_t mask)
{
	do {
		uint8_t pix = *pixels++; 
		if (!(pix & 0x80)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x40)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x20)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x10)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x08)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x04)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x02)) *dest |= mask;
		dest += 4;
		if (!(pix & 0x01)) *dest |= mask;
		dest += 4;
	} while (--n > 0);
}

void OctoWS2811::show(void)
{
	// wait for any prior DMA operation
	while (!dma3.complete()) ; // wait

	// it's ok to copy the drawing buffer to the frame buffer
	// during the 50us WS2811 reset time
	if (drawBuffer != frameBuffer) {
		memcpy(frameBuffer, drawBuffer, numbytes * numpins);
	}

	// disable timers
	uint16_t enable = TMR4_ENBL;
	TMR4_ENBL = enable & ~7;

	// force all timer outputs to logic low
	TMR4_SCTRL0 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE | TMR_SCTRL_MSTR;
	TMR4_SCTRL1 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE;
	TMR4_SCTRL2 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE;

	// clear any prior pending DMA requests
	XBARA1_CTRL0 |= XBARA_CTRL_STS1 | XBARA_CTRL_STS0;
	XBARA1_CTRL1 |= XBARA_CTRL_STS0;

	// fill the DMA transmit buffer
	//digitalWriteFast(12, HIGH);
	memset(bitdata, 0, sizeof(bitdata));
	uint32_t count = numbytes;
	if (count > BYTES_PER_DMA*2) count = BYTES_PER_DMA*2;
	framebuffer_index = count;
	for (uint32_t i=0; i < numpins; i++) {
		fillbits(bitdata + pin_offset[i], (uint8_t *)frameBuffer + i*numbytes,
			count, 1<<pin_bitnum[i]);
	}
	arm_dcache_flush_delete(bitdata, count * 128);
	//digitalWriteFast(12, LOW);

        // set up DMA transfers
        if (numbytes <= BYTES_PER_DMA*2) {
		dma2.TCD->SADDR = bitdata;
		dma2.TCD->DADDR = &GPIO1_DR_CLEAR;
		dma2.TCD->CITER_ELINKNO = count * 8;
		dma2.TCD->CSR = DMA_TCD_CSR_DREQ;
        } else {
		dma2.TCD->SADDR = bitdata;
		dma2.TCD->DADDR = &GPIO1_DR_CLEAR;
		dma2.TCD->CITER_ELINKNO = BYTES_PER_DMA * 8;
		dma2.TCD->CSR = 0;
		dma2.TCD->CSR = DMA_TCD_CSR_INTMAJOR | DMA_TCD_CSR_ESG;
		dma2next.TCD->SADDR = bitdata + BYTES_PER_DMA*32;
		dma2next.TCD->CITER_ELINKNO = BYTES_PER_DMA * 8;
		if (numbytes <= BYTES_PER_DMA*3) {
			dma2next.TCD->CSR = DMA_TCD_CSR_ESG;
		} else {
			dma2next.TCD->CSR = DMA_TCD_CSR_ESG | DMA_TCD_CSR_INTMAJOR;
		}
		dma_first = true;
        }
	dma3.clearComplete();
	dma1.enable();
	dma2.enable();
	dma3.enable();

	// initialize timers
	TMR4_CNTR0 = 0;
	TMR4_CNTR1 = comp1load[0] + 1;
	TMR4_CNTR2 = comp1load[0] + 1;

	// wait for WS2812 reset
	while (micros() - update_begin_micros < numbytes * 10 + 300) ;

	// start everything running!
	TMR4_ENBL = enable | 7;
	update_begin_micros = micros();
}

void OctoWS2811::isr(void)
{
	// first ack the interrupt
	dma2.clearInterrupt();

	// fill (up to) half the transmit buffer with new data
	//digitalWriteFast(12, HIGH);
	uint32_t *dest;
	if (dma_first) {
		dma_first = false;
		dest = bitdata;
	} else {
		dma_first = true;
		dest = bitdata + BYTES_PER_DMA*32;
	}
	memset(dest, 0, sizeof(bitdata)/2);
	uint32_t index = framebuffer_index;
	uint32_t count = numbytes - framebuffer_index;
	if (count > BYTES_PER_DMA) count = BYTES_PER_DMA;
	framebuffer_index = index + count;
	for (int i=0; i < numpins; i++) {
		fillbits(dest + pin_offset[i], (uint8_t *)frameBuffer + index + i*numbytes,
			count, 1<<pin_bitnum[i]);
	}
	arm_dcache_flush_delete(dest, count * 128);
	//digitalWriteFast(12, LOW);

	// queue it for the next DMA transfer
	dma2next.TCD->SADDR = dest;
	dma2next.TCD->CITER_ELINKNO = count * 8;
	uint32_t remain = numbytes - (index + count);
	if (remain == 0) {
		dma2next.TCD->CSR = DMA_TCD_CSR_DREQ;
	} else if (remain <= BYTES_PER_DMA) {
		dma2next.TCD->CSR = DMA_TCD_CSR_ESG;
	} else {
		dma2next.TCD->CSR = DMA_TCD_CSR_ESG | DMA_TCD_CSR_INTMAJOR;
	}
}

int OctoWS2811::busy(void)
{
	if (!dma3.complete()) ; // DMA still running
	if (micros() - update_begin_micros < numbytes * 10 + 300) return 1; // WS2812 reset
	return 0;
}

// For Teensy 4.x, the pixel data is stored in ordinary RGB format.  Translation
// from 24 bit color to GPIO bitmasks is done on-the-fly by fillbits().  This is
// different from Teensy 3.x, where the data was stored as bytes to write directly
// to the GPIO output register.

void OctoWS2811::setPixel(uint32_t num, int color)
{
	switch (params & 7) {
	  case WS2811_RBG:
		color = (color&0xFF0000) | ((color<<8)&0x00FF00) | ((color>>8)&0x0000FF);
		break;
	  case WS2811_GRB:
		color = ((color<<8)&0xFF0000) | ((color>>8)&0x00FF00) | (color&0x0000FF);
		break;
	  case WS2811_GBR:
		color = ((color<<16)&0xFF0000) | ((color>>8)&0x00FFFF);
		break;
	  case WS2811_BRG:
		color = ((color<<8)&0xFFFF00) | ((color>>16)&0x0000FF);
		break;
	  case WS2811_BGR:
		color = ((color<<16)&0xFF0000) | (color&0x00FF00) | ((color>>16)&0x0000FF);
		break;
	  default:
		break;
	}
	uint8_t *dest = (uint8_t *)drawBuffer + num * 3;
	*dest++ = color >> 16;
	*dest++ = color >> 8;
	*dest++ = color;
}

int OctoWS2811::getPixel(uint32_t num)
{
	const uint8_t *p = (uint8_t *)drawBuffer + num * 3;
	int color = p[2] | (p[1] << 8) | (p[0] << 16);
	switch (params & 7) {
	  case WS2811_RBG:
		color = (color&0xFF0000) | ((color<<8)&0x00FF00) | ((color>>8)&0x0000FF);
		break;
	  case WS2811_GRB:
		color = ((color<<8)&0xFF0000) | ((color>>8)&0x00FF00) | (color&0x0000FF);
		break;
	  case WS2811_GBR:
		color = ((color<<8)&0xFFFF00) | ((color>>16)&0x0000FF);
		break;
	  case WS2811_BRG:
		color = ((color<<16)&0xFF0000) | ((color>>8)&0x00FFFF);
		break;
	  case WS2811_BGR:
		color = ((color<<16)&0xFF0000) | (color&0x00FF00) | ((color>>16)&0x0000FF);
		break;
	  default:
		break;
	}
	return color;
}

#endif // __IMXRT1062__